There was no joint statement at the end of the meeting, which the BBC's North America correspondent Chris Buckler says is a clear sign of discord.

Our correspondent says acrimonious debate is likely to continue next weekend when the leaders of the G7 countries - including Mr Trump - meet for a summit in Quebec.

What are the tariffs?

On Thursday, Mr Ross said tariffs of 25% on steel and 10% on aluminium had come into effect.

They apply to items such as plated steel, slabs, coil, rolls of aluminium and tubes - raw materials that are used extensively across US manufacturing, construction and the oil industry.

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Media captionTrudeau: Canada not US national security threat

Mr Ross said talks with the EU, Canada and Mexico had not made enough progress to warrant holding off from imposing the tariffs.

Canada, Mexico and the EU together exported $23bn (£17bn) worth of steel and aluminium to the US in 2017 - nearly half of the $48bn of total steel and aluminium imports last year.

What has the response been?

Leaders from the EU, Canada and Mexico have criticised the move.

French President Emmanuel Macron has called Mr Trump to tell him the tariffs were "illegal" but was told by Mr Trump that there was a need to "rebalance trade" with the EU.

The EU has issued a 10-page list of tariffs on US goods ranging from Harley-Davidson motorcycles to bourbon.

Image copyrightGetty ImagesImage caption
The EU is to hit back with tariffs on Harley Davidson motorcycles

Canadian Prime Minister Justin Trudeau has said the US move is "totally unacceptable".

Canada plans to impose tariffs of up to 25% on about $13bn worth of US exports from 1 July. Goods affected will include some American steel, as well as consumer products such as yoghurt, whiskey and coffee.

Some prominent US Republicans have also voiced opposition.

House Speaker Paul Ryan has said the move "targets America's allies when we should be working with them to address the unfair trading practices of countries like China".